Umar Farooq Kahn

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This paper presents a process evaluation for the agile technique of refactoring based on the language C. The basis for this evaluation is made up by an experiment which is targeted on the aspects of increased maintainability and modifiability. Although the maintainability test shows a slight advantage for refactoring, results show no significant strength(More)
Mobile manipulation in service robotic applications requires the alignment of the end-effector with recognized objects of unknown pose. Image based visual servoing provides a means of model-free manipulation of objects solely relying on 2D image information. This contribution proposes a visual servoing scheme that utilizes the pixel coordinates, scale and(More)
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